JP7196279B2 - 傾きが未知のペグ・イン・ホール・タスクの実行 - Google Patents
傾きが未知のペグ・イン・ホール・タスクの実行 Download PDFInfo
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- JP7196279B2 JP7196279B2 JP2021502431A JP2021502431A JP7196279B2 JP 7196279 B2 JP7196279 B2 JP 7196279B2 JP 2021502431 A JP2021502431 A JP 2021502431A JP 2021502431 A JP2021502431 A JP 2021502431A JP 7196279 B2 JP7196279 B2 JP 7196279B2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39342—Adaptive impedance control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39343—Force based impedance control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40392—Programming, visual robot programming language
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Health & Medical Sciences (AREA)
- Manipulator (AREA)
- Testing And Monitoring For Control Systems (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/039,879 | 2018-07-19 | ||
US16/039,879 US10953548B2 (en) | 2018-07-19 | 2018-07-19 | Perform peg-in-hole task with unknown tilt |
PCT/IB2019/055961 WO2020016717A1 (en) | 2018-07-19 | 2019-07-12 | Perform peg-in-hole task with unknown tilt |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021531177A JP2021531177A (ja) | 2021-11-18 |
JP7196279B2 true JP7196279B2 (ja) | 2022-12-26 |
Family
ID=69162335
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021502431A Active JP7196279B2 (ja) | 2018-07-19 | 2019-07-12 | 傾きが未知のペグ・イン・ホール・タスクの実行 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10953548B2 (de) |
JP (1) | JP7196279B2 (de) |
CN (1) | CN112424703B (de) |
DE (1) | DE112019002310B4 (de) |
GB (1) | GB2588873B (de) |
WO (1) | WO2020016717A1 (de) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11173613B2 (en) * | 2017-02-09 | 2021-11-16 | Mitsubishi Electric Corporation | Position control device and position control method |
DE102017118985B4 (de) * | 2017-04-23 | 2019-10-02 | Franka Emika Gmbh | Schraubvorrichtung |
US11597086B2 (en) | 2018-09-13 | 2023-03-07 | The Charles Stark Draper Laboratory, Inc. | Food-safe, washable interface for exchanging tools |
DE112020006594B4 (de) | 2020-04-28 | 2024-02-29 | Yamaha Hatsudoki Kabushiki Kaisha | Maschinenlernverfahren und Robotersystem |
CN111618864B (zh) * | 2020-07-20 | 2021-04-23 | 中国科学院自动化研究所 | 基于自适应神经网络的机器人模型预测控制方法 |
CN112757344B (zh) * | 2021-01-20 | 2022-03-11 | 清华大学 | 基于力位状态映射模型的机器人过盈轴孔装配方法和装置 |
DE102021106990A1 (de) | 2021-03-22 | 2022-09-22 | Ferrobotics Compliant Robot Technology Gmbh | Kraftgeregelte Handhabungsvorrichtung für die robotergestützte Oberflächenbearbeitung |
DE102021109336B4 (de) | 2021-04-14 | 2023-06-01 | Robert Bosch Gesellschaft mit beschränkter Haftung | Vorrichtung und Verfahren zum Trainieren eines Neuronalen Netzes zum Steuern eines Roboters für eine Einsetzaufgabe |
DE102021109333B4 (de) | 2021-04-14 | 2023-07-06 | Robert Bosch Gesellschaft mit beschränkter Haftung | Vorrichtung und Verfahren zum Trainieren eines Neuronalen Netzes zum Steuern eines Roboters für eine Einsetzaufgabe |
DE102021109334B4 (de) | 2021-04-14 | 2023-05-25 | Robert Bosch Gesellschaft mit beschränkter Haftung | Vorrichtung und Verfahren zum Trainieren eines Neuronalen Netzes zum Steuern eines Roboters für eine Einsetzaufgabe |
DE102021109332B4 (de) * | 2021-04-14 | 2023-07-06 | Robert Bosch Gesellschaft mit beschränkter Haftung | Vorrichtung und Verfahren zum Steuern eines Roboters zum Einsetzen eines Objekts in eine Einsetzstelle |
CN113747682B (zh) * | 2021-09-07 | 2023-09-12 | 山东大学 | 一种机器人精密装配***及方法 |
DE102021126188A1 (de) | 2021-10-08 | 2023-04-13 | Dürr Systems Ag | Überwachungsverfahren für einen Roboter und zugehörige Roboteranlage |
CN113878588B (zh) * | 2021-11-12 | 2023-03-31 | 哈尔滨工业大学(深圳) | 面向卡扣式连接的基于触觉反馈的机器人柔顺装配方法 |
CN113925607B (zh) * | 2021-11-12 | 2024-02-27 | 上海微创医疗机器人(集团)股份有限公司 | 手术机器人操作训练方法、装置、***、介质及设备 |
CN117817675B (zh) * | 2024-03-06 | 2024-04-30 | 泓浒(苏州)半导体科技有限公司 | 基于时间序列晶圆搬运机械臂运动轨迹的预测方法 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014166681A (ja) | 2014-05-16 | 2014-09-11 | Yaskawa Electric Corp | ロボット教示システムおよびロボット教示方法 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09258814A (ja) * | 1996-03-22 | 1997-10-03 | Kayaba Ind Co Ltd | 組み立てロボットの位置決め制御装置及び位置決め制御方法 |
CN1170659C (zh) * | 2000-10-24 | 2004-10-13 | 中国科学院合肥智能机械研究所 | 一种多传感器机器人手爪 |
US7181314B2 (en) | 2003-11-24 | 2007-02-20 | Abb Research Ltd. | Industrial robot with controlled flexibility and simulated force for automated assembly |
DE102010012598A1 (de) | 2010-02-26 | 2011-09-01 | Kuka Laboratories Gmbh | Prozessmodulbibliothek und Programmierumgebung zur Programmierung eines Manipulatorprozesses |
JP5915214B2 (ja) * | 2012-02-01 | 2016-05-11 | セイコーエプソン株式会社 | ロボット装置、組立て方法、及び組立てプログラム |
WO2014037999A1 (ja) | 2012-09-04 | 2014-03-13 | 株式会社安川電機 | ロボットの制御パラメータ調整方法、ロボットシステム、及びロボット制御装置 |
US9743987B2 (en) * | 2013-03-14 | 2017-08-29 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
US9387589B2 (en) | 2014-02-25 | 2016-07-12 | GM Global Technology Operations LLC | Visual debugging of robotic tasks |
CN104626168B (zh) * | 2014-12-16 | 2016-08-24 | 苏州大学 | 基于智能算法的机器人力位柔顺控制方法 |
KR101980603B1 (ko) | 2016-05-20 | 2019-05-22 | 구글 엘엘씨 | 오브젝트(들)를 캡처하는 이미지(들)에 기초하는 그리고 환경에서의 미래 로봇 움직임에 대한 파라미터(들)에 기초하여 로봇 환경에서의 오브젝트(들)의 모션(들)을 예측하는 것과 관련된 머신 학습 방법들 및 장치 |
CN106886165A (zh) | 2017-03-10 | 2017-06-23 | 深圳市唯特视科技有限公司 | 一种基于模拟器的机械手抓取和操纵方法 |
CN107704495B (zh) * | 2017-08-25 | 2018-08-10 | 平安科技(深圳)有限公司 | 主题分类器的训练方法、装置及计算机可读存储介质 |
CN107378955A (zh) * | 2017-09-07 | 2017-11-24 | 云南电网有限责任公司普洱供电局 | 一种基于多传感器信息融合的配网检修机器人操作臂自主作业方法 |
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2018
- 2018-07-19 US US16/039,879 patent/US10953548B2/en active Active
-
2019
- 2019-07-12 JP JP2021502431A patent/JP7196279B2/ja active Active
- 2019-07-12 WO PCT/IB2019/055961 patent/WO2020016717A1/en active Application Filing
- 2019-07-12 CN CN201980046633.7A patent/CN112424703B/zh active Active
- 2019-07-12 GB GB2101713.2A patent/GB2588873B/en active Active
- 2019-07-12 DE DE112019002310.1T patent/DE112019002310B4/de active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014166681A (ja) | 2014-05-16 | 2014-09-11 | Yaskawa Electric Corp | ロボット教示システムおよびロボット教示方法 |
Also Published As
Publication number | Publication date |
---|---|
GB2588873B (en) | 2021-10-13 |
US20200023520A1 (en) | 2020-01-23 |
GB202101713D0 (en) | 2021-03-24 |
WO2020016717A1 (en) | 2020-01-23 |
JP2021531177A (ja) | 2021-11-18 |
DE112019002310B4 (de) | 2022-02-03 |
GB2588873A (en) | 2021-05-12 |
US10953548B2 (en) | 2021-03-23 |
DE112019002310T5 (de) | 2021-02-18 |
CN112424703B (zh) | 2023-01-31 |
CN112424703A (zh) | 2021-02-26 |
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